Standard Deviation Based Weighted Average Function for Reducing Tremor Disturbance of the Joystick

An algorithm of standard deviation based weighted average function (SDWAF) for reducing tremor disturbance was developed, and simulated to test the performance. The minus sign of modified rate meant the SDWAF reduced the tremor disturbance on the movement of powered wheelchair. The average modified rates were -21.93%, +11.68%, -12.85%, and, -18.30% in (a) with the tremor noise of 50 (the maximum value of joystick was 255) in X, and 20 in Y, (b) 75 in X, and 20 in Y, (c) 100 in X, and 20 in Y, and (d) 125 in X, and 20 in Y, respectively. Therefore, the SDWAF was a practical algorithm for reducing the tremor disturbance on the general joystick controlled powered wheelchair in the various environment.